File content as of revision 0:c5e201f4e5d8:

#include "mbed.h"
#include "QEI.h"
#include "SerialMultiByte.h"

QEI enc1(PB_6,PB_3,NC,100, QEI::X4_ENCODING);
QEI enc2(PA_8,PA_9,NC,100, QEI::X4_ENCODING);
QEI enc3(PB_6,PB_7,NC,100, QEI::X4_ENCODING);
QEI enc4(PA_0,PA_1,NC,100, QEI::X4_ENCODING);


Serial pc(USBTX,USBRX,115200);
SerialMultiByte send(PC_12,PD_2);

//int Revol1;
//int Current;
//double GetAngle;
//int Angle_rev;
//double SumAngle;

Timer t;

int main() 
{
//    stop = 1;
//    uint8_t test[4] = {1,2,3,4};
    int16_t Angle[4] = {0};
    uint8_t Pulse[8] = {0};
    t.start();
    send.setHeaders(0xff,0xff);

    while(1)
    {   
        Angle[0] = enc1.getPulses(); 
        Angle[1] = enc2.getPulses(); 
        Angle[2] = enc3.getPulses(); 
        Angle[3] = enc4.getPulses();
        for(int i=0, j=0;i<8;i+=2,j++){
            Pulse[i] = Angle[j] >> 8;
            Pulse[i+1] = Angle[j] & 255;
        }
//        Pulse[0] = Angle[0] >> 8;
//        Pulse[1] = Angle[0] & 255;

//        Revol1 = enc1.getRevolutions();
//        Current = enc1.getCurrentState();
//        GetAngle = enc1.getAngle();
//        Angle_rev = enc1.getAng_rev();
//        SumAngle = enc1.getSumangle();

                                           
//        pc.printf("t:%.2f | ENC0:%d | REV0:%d | Cur:%d | GetAngle:%.2f | Angle_rev:%d | SumAngle:%.2f", t.read(),Angle1,Revol1,Current,GetAngle,Angle_rev,SumAngle);
        pc.printf("t:%.2f | ENC1:%.2d | ENC2:%.2d | ENC3:%.2d | ENC4:%.2d |", t.read(),Angle[0],Angle[1],Angle[2],Angle[3]);
        pc.printf("\r\n");
        send.sendData(Pulse,8);
        
//        pc.printf("t:%.2f | test1:%.2d | test2:%.2d | test3:%.2d | test4:%.2d |", t.read(),test[0],test[1],test[2],test[3]);
//        pc.printf("\r\n");
//        send.sendData(test,4);
        
    }
}